CN114962631A - Retarder electromagnetic valve control method, device, equipment and medium - Google Patents
Retarder electromagnetic valve control method, device, equipment and medium Download PDFInfo
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0206—Layout of electro-hydraulic control circuits, e.g. arrangement of valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H2061/0075—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method
- F16H2061/0087—Adaptive control, e.g. the control parameters adapted by learning
Abstract
The embodiment of the invention discloses a method, a device, equipment and a medium for controlling a retarder electromagnetic valve, wherein the method comprises the following steps: acquiring a target current value and an actual current value of the running of a retarder in the braking process of a target vehicle; inquiring a dynamically updated duty ratio configuration table of a feedforward electromagnetic valve control signal matched with the retarder based on the target current value, determining a feedforward control duty ratio, and determining a closed-loop control duty ratio based on the actual current value; and determining the duty ratio of a target electromagnetic valve control signal according to the feedforward control duty ratio and the closed-loop control duty ratio, and realizing the electromagnetic valve control of the retarder according to the duty ratio of the target electromagnetic valve control signal. The technical scheme of the embodiment of the invention solves the problem of slow control speed of the electromagnetic valve in the prior art, and can quickly inquire out the feedforward control duty ratio matched with the current state of the retarder and required for realizing the target current value based on the dynamically updated feedforward electromagnetic valve control signal duty ratio configuration table, thereby improving the control speed of the electromagnetic valve.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a method, a device, equipment and a medium for controlling a retarder electromagnetic valve.
Background
The working principle of the retarder is that the air pressure in the retarder is controlled by controlling the opening degree of an electromagnetic valve in the retarder, and the air pressure drives oil liquid to enter a working cavity, so that torque is generated, and the speed reduction effect on a vehicle is realized. Therefore, the control speed and the control precision of the electromagnetic valve determine the torque response speed and the torque response precision of the hydraulic retarder. However, due to the influence of the working time and the device manufacturing, when the electromagnetic valve achieves a certain opening degree, the required current is different from the current actually provided by the vehicle. In order to increase the control precision of the solenoid valve, the prior art generally adopts a control mode combining feedforward and closed loop, because closed loop control has overshoot, a certain time is needed for the control deviation to reach a very small range, and the control speed of the solenoid valve is slow.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a medium for controlling an electromagnetic valve of a retarder, which can improve the control speed of the electromagnetic valve.
In a first aspect, a retarder solenoid valve control method, the method comprising:
acquiring a target current value and an actual current value of the running retarder in the braking process of a target vehicle;
inquiring a dynamically updated duty ratio configuration table of a feedforward electromagnetic valve control signal matched with the retarder based on the target current value, determining a feedforward control duty ratio, and determining a closed-loop control duty ratio based on the actual current value;
and determining the duty ratio of a target electromagnetic valve control signal according to the feedforward control duty ratio and the closed-loop control duty ratio, and realizing the electromagnetic valve control of the retarder according to the duty ratio of the target electromagnetic valve control signal.
In a second aspect, an embodiment of the present invention provides a retarder solenoid valve control device, where the retarder solenoid valve control device includes:
the current value acquisition module is used for acquiring a target current value and an actual current value of the running retarder in the braking process of the target vehicle;
the control signal acquisition module is used for inquiring a dynamically updated feedforward electromagnetic valve control signal duty ratio configuration table matched with the retarder based on the target current value, determining a feedforward control duty ratio and determining a closed-loop control duty ratio based on the actual current value;
and the target control signal determining module is used for determining the duty ratio of a target electromagnetic valve control signal according to the feedforward control duty ratio and the closed-loop control duty ratio and realizing the electromagnetic valve control of the retarder according to the duty ratio of the target electromagnetic valve control signal.
In a third aspect, an embodiment of the present invention provides a computer device, where the computer device includes:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the retarder solenoid valve control method of any embodiment.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the retarder solenoid valve control method according to any embodiment.
According to the technical scheme provided by the embodiment of the invention, the target current value and the actual current value of the retarder in the braking process of the target vehicle are obtained; inquiring a dynamically updated duty ratio configuration table of a feedforward electromagnetic valve control signal matched with the retarder based on the target current value, determining a feedforward control duty ratio, and determining a closed-loop control duty ratio based on the actual current value; and determining the duty ratio of a target electromagnetic valve control signal according to the feedforward control duty ratio and the closed-loop control duty ratio, and realizing the electromagnetic valve control of the retarder according to the duty ratio of the target electromagnetic valve control signal. The technical scheme of the embodiment of the invention solves the problem of low control speed of the electromagnetic valve in the prior art, and can quickly inquire the feedforward control duty ratio matched with the current state of the retarder and required for realizing the target current value based on the dynamically updated feedforward electromagnetic valve control signal duty ratio configuration table, thereby improving the control speed of the electromagnetic valve.
Drawings
FIG. 1 is a flowchart of a control method for an electromagnetic valve of a retarder according to a first embodiment of the present invention;
FIG. 2 is a flowchart illustrating a control process of a retarder solenoid valve according to an embodiment of the present invention;
FIG. 3 is a flowchart of a dynamic update method for a duty ratio configuration table of a control signal of a feedforward solenoid valve according to a second embodiment of the present invention;
FIG. 4 is a flowchart of a method for dynamically updating a duty cycle configuration table of a control signal of a feedforward solenoid valve according to a third embodiment of the present invention;
FIG. 5 is a flow chart illustrating dynamic update of a duty cycle configuration table of a control signal for a feedforward solenoid valve according to a third embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a retarder solenoid valve control device according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Fig. 1 is a flowchart of a method for controlling a retarder solenoid valve according to a first embodiment of the present invention, where the first embodiment of the present invention is applicable to a vehicle control scenario, and the method may be executed by a retarder solenoid valve control device, and the device may be implemented by software and/or hardware.
As shown in fig. 1, the retarder solenoid valve control method includes the following steps:
and S110, acquiring a target current value and an actual current value of the running retarder in the braking process of the target vehicle.
Wherein the target vehicle denotes a vehicle equipped with a retarder, by which vehicle braking can be achieved. The target current value of the retarder operation represents the current value required by the retarder to achieve the target braking effect, and the target current value can be obtained by inquiring a relation table of torque and current according to the torque required by achieving the target braking effect. The actual current value represents the current value of the actual operation of the retarder and can be known through a current sensor connected in series with the retarder. Because there is an error between the actual current value and the target current value, the actual current value received by the retarder is not equal to the target current value, and the target vehicle cannot achieve the target braking effect.
And S120, inquiring a dynamically updated duty ratio configuration table of the feedforward electromagnetic valve control signal matched with the retarder based on the target current value, determining a feedforward control duty ratio, and determining a closed-loop control duty ratio based on the actual current value.
The feedforward control duty ratio represents a duty ratio determined by feedforward control, the feedforward control can improve the control speed of the electromagnetic valve, the feedforward electromagnetic valve control signal duty ratio configuration table can reflect the corresponding relation between a target current value and the feedforward control duty ratio, and the feedforward control duty ratio corresponding to the target current value can be inquired by inputting the target current value. In order to ensure the accuracy of the corresponding relation between the target current value and the feedforward control duty ratio, the feedforward electromagnetic valve control signal duty ratio configuration table is dynamically updated, and the mapping relation between the target current value and the feedforward control duty ratio is corrected in stages. For example, learning and correction of the mapping relationship between the target current value and the feedforward control duty may be performed by a stepwise duty test or machine learning. The closed-loop control duty ratio represents a duty ratio determined by closed-loop control, the closed-loop control can improve the control precision of the electromagnetic valve, and a PID (proportional integral derivative) control method can be selected as a closed-loop control method, and the closed-loop control duty ratio is calculated based on an actual current value and a target current value.
S130, determining a target electromagnetic valve control signal duty ratio according to the feedforward control duty ratio and the closed-loop control duty ratio, and realizing the electromagnetic valve control of the retarder according to the target electromagnetic valve control signal duty ratio.
The target electromagnetic valve control signal duty ratio represents the electromagnetic valve control signal duty ratio which can be realized by the target current value under the condition that the deviation is in a reasonable threshold value, and the target electromagnetic valve control signal duty ratio is equal to the sum of the feedforward control duty ratio and the closed-loop control duty ratio. Therefore, the feedforward control duty ratio and the closed-loop control duty ratio can be added to obtain the target electromagnetic valve control signal duty ratio, and the electromagnetic valve control of the retarder is realized according to the target electromagnetic valve control signal duty ratio.
Specifically, fig. 2 is a flowchart for controlling a retarder solenoid valve according to an embodiment of the present invention, where a "feed-forward chart" represents a table for configuring a duty ratio of a feed-forward solenoid valve control signal; the self-learning algorithm is used for sequentially setting the test duty ratios of the electromagnetic valve control signals according to a preset step length, respectively acquiring the monitoring current values of the retarders corresponding to the test duty ratios in a preset test duration, then carrying out data processing on the monitoring current values, and updating the duty ratio configuration table of the feedforward electromagnetic valve control signals according to the processing result; "feedforward set duty" means a feedforward control duty; "feedforward set duty cycle" represents the target solenoid valve control signal duty cycle; the feedforward setting duty ratio is used for determining the closed-loop control duty ratio according to the actual current value; "PID control duty cycle" represents the closed loop control duty cycle; the "current sensor" is used to detect the actual current.
As shown in fig. 2, the retarder solenoid valve control process is as follows: after the target current is input, the feedforward setting duty ratio is calculated by inquiring a feedforward chart, on the other hand, the PID control duty ratio is calculated through a PI D algorithm according to the target current and the actual current, and then the feedforward setting duty ratio and the PID control duty ratio are added to calculate the control duty ratio. Then, the controller device controls PWM (Pulse width modulation) driving according to the control duty ratio, and further controls the opening of the electromagnetic valve, thereby realizing the electromagnetic valve control of the retarder.
According to the technical scheme provided by the embodiment of the invention, the target current value and the actual current value of the running retarder in the braking process of the target vehicle are obtained; inquiring a dynamically updated duty ratio configuration table of a feedforward electromagnetic valve control signal matched with the retarder based on the target current value, determining a feedforward control duty ratio, and determining a closed-loop control duty ratio based on the actual current value; and determining the duty ratio of a target electromagnetic valve control signal according to the feedforward control duty ratio and the closed-loop control duty ratio, and realizing the electromagnetic valve control of the retarder according to the duty ratio of the target electromagnetic valve control signal. The technical scheme of the embodiment of the invention solves the problem of low control speed of the electromagnetic valve in the prior art, and can quickly inquire the feedforward control duty ratio matched with the current state of the retarder and required for realizing the target current value based on the dynamically updated feedforward electromagnetic valve control signal duty ratio configuration table, thereby improving the control speed of the electromagnetic valve.
Example two
Fig. 3 is a flowchart of a method for dynamically updating a duty ratio configuration table of a feedforward solenoid valve control signal according to a second embodiment of the present invention, where the second embodiment of the present invention is applicable to a vehicle control scenario, and the method may be executed by a retarder solenoid valve control device, and the device may be implemented by software and/or hardware.
As shown in FIG. 3, the method for dynamically updating the duty cycle configuration table of the feedforward electromagnetic valve control signal comprises the following steps:
and S210, starting a self-learning process of the electromagnetic valve control signal of the retarder according to a preset updating time period.
The preset update time period represents a preset period time of the duty ratio configuration table of the feedforward electromagnetic valve control signal which is more recent, and for example, the duty ratio configuration table of the feedforward electromagnetic valve control signal may be updated once every five hundred hours. Because of the influence of the working time and the device manufacturing, when the electromagnetic valve achieves a certain opening degree, the required current is different from the current actually provided by the vehicle. Therefore, for each different retarder, the operating characteristics of each retarder itself should be learned periodically, so as to update the electromagnetic valve control signal of the retarder.
The solenoid valve control signal represents a signal that can control the solenoid valve, for example, the duty ratio of the solenoid valve control signal selected in the second embodiment of the present invention, and the solenoid valve can be controlled by controlling the duty ratio of the solenoid valve control signal.
S220, sequentially setting the test duty ratios of the electromagnetic valve control signals based on the preset step length, and respectively collecting the monitoring current values of the retarder corresponding to the test duty ratios within the preset test duration.
The preset step represents a setting interval of the test duty cycle value of the solenoid valve control signal, for example, the preset step may be set to 5%, and then duty cycles of 5%, 10%, 15%, 20%, etc. are sequentially used as the test duty cycle.
The test duty cycle represents the running duty cycle of the retarder tested in the self-learning process, the test duty cycle range can be set to be 0% -100% in order to guarantee the integrity of the test result, and the test duty cycle of the next step length larger than 0% can be selected as the minimum value of the test duty cycle because the test duty cycle of 0% represents that the retarder is in a closed state and has no practical application value, for example, 5% can be selected as the minimum value of the test duty cycle.
The preset test duration represents the preset time for detecting the current value of the test duty ratio, and because the current value is in continuous change, the accurate value of the current is difficult to monitor, so that the average value of the current values in the preset test duration can be used as the current value of the test duty ratio, for example, the preset test duration can be set to 5s, and the average value of the current values in the test duty ratio of 5s can be used as the current value of the test duty ratio. The monitoring current value is the current value of the retarder under different test duty ratios, and the monitoring current value can be obtained through detection of a current sensor.
And S230, carrying out data processing on the monitoring current value, and updating the duty ratio configuration table of the control signal of the feedforward electromagnetic valve according to the processing result.
The number of the abnormal values which are larger than a reasonable threshold value in the monitoring current values can be removed according to the monitoring current value corresponding to each test duty ratio, and the average monitoring current value of each monitoring current value after the abnormal values are removed is calculated. And transposing the relation between the test duty ratio and the corresponding test target current value to obtain the mapping relation between the target current value and the feedforward control duty ratio, recording the mapping relation between the target current value and the feedforward control duty ratio in a table form, and taking the table as an updated feedforward electromagnetic valve control signal duty ratio configuration table.
According to the technical scheme provided by the embodiment of the invention, the self-learning process of the electromagnetic valve control signal of the retarder is started according to the preset updating time period; sequentially setting the test duty ratios of the electromagnetic valve control signals based on the preset step length, and respectively collecting the monitoring current values of the retarders corresponding to the test duty ratios in the preset test duration; and carrying out data processing on the monitored current value, and updating a duty ratio configuration table of the control signal of the feedforward electromagnetic valve according to a processing result. The technical scheme of the embodiment of the invention solves the problem of slow control speed of the electromagnetic valve in the prior art, can dynamically learn the control characteristic of the electromagnetic valve, updates the duty ratio configuration table of the control signal of the feedforward electromagnetic valve and improves the control speed of the electromagnetic valve.
EXAMPLE III
Fig. 4 is a flowchart of a method for dynamically updating a duty ratio configuration table of a feedforward solenoid valve control signal according to a third embodiment of the present invention, where the third embodiment of the present invention is applicable in a vehicle control scenario, and the method may be executed by a retarder solenoid valve control device, and the device may be implemented by software and/or hardware.
As shown in FIG. 4, the dynamic update method of the duty ratio configuration table of the feedforward electromagnetic valve control signal comprises the following steps:
s310, judging whether a target vehicle corresponding to the retarder is in a static state, judging whether the air pressure of an air storage cylinder of the retarder is larger than a preset air pressure threshold value, and judging whether the voltage of a storage battery of the target vehicle is larger than a preset voltage threshold value.
When the target vehicle corresponding to the retarder is in a static state, the influence of other factors on dynamic updating of the duty ratio configuration table of the feedforward electromagnetic valve control signal can be reduced, and therefore the target vehicle is required to be in the static state when the duty ratio configuration table of the feedforward electromagnetic valve control signal is dynamically updated. The preset air pressure threshold value represents a reasonable air pressure threshold value that the air pressure of the air reservoir of the retarder is normal, and when the air pressure of the air reservoir of the retarder is larger than the preset air pressure threshold value, the air pressure of the air reservoir of the retarder is in a normal working range. The preset voltage threshold value represents a reasonable voltage threshold value for the normal battery voltage of the target vehicle, and when the battery voltage of the target vehicle is larger than the preset voltage threshold value, the battery voltage of the target vehicle is in a normal working range.
And S320, when the target vehicle corresponding to the retarder is in a static state, the air pressure of the air reservoir of the retarder is greater than a preset air pressure threshold value, and the voltage of the storage battery of the target vehicle is greater than a preset voltage threshold value, starting the electromagnetic valve control signal self-learning process of the retarder.
The method comprises the steps that the air pressure of an air storage cylinder of the retarder is larger than a preset air pressure threshold value, namely the air pressure of the air storage cylinder of the retarder is in a normal working range, the battery voltage of a target vehicle is larger than a preset voltage threshold value, namely the battery voltage of the target vehicle is in the normal working range, when the target vehicle corresponding to the retarder is in a static state, the air pressure of the air storage cylinder of the retarder is in the normal working range, and when the battery voltage of the target vehicle is in the normal working range, the electromagnetic valve control signal self-learning process of the retarder is started.
S330, setting the range of the test duty ratio to be 0-100%, taking 5% as the preset step length, sequentially taking values to determine the test value of the test duty ratio, and respectively collecting the monitoring current values of the retarder corresponding to the test duty ratios in the preset test duration.
The test duty ratio of 0% indicates that the retarder is in a closed state, and there is no practical application value, so that the test duty ratio of the next step larger than 0% can be selected as the minimum value of the test duty ratio, for example, 5% can be selected as the minimum value of the test duty ratio, 5% is taken as a preset step, values are sequentially taken to determine the test value of the test duty ratio, and the monitoring current values of the retarder corresponding to each test duty ratio in the preset test duration are respectively collected.
S340, aiming at the monitoring current value corresponding to each test duty ratio, removing an abnormal constant in the monitoring current value, and calculating the average monitoring current value of each monitoring current value after removing the abnormal value.
The abnormal number represents abnormal detection data in the monitored current value, and in order to ensure the accuracy of the detected current value, the abnormal constant in the monitored current value needs to be deleted, and the average monitored current value of each monitored current value after the abnormal value is deleted is calculated. For example, the variance between each current value in the monitored current values and the mean of all the monitored current values may be calculated, when the difference is greater than a preset variance threshold, the monitored current value corresponding to the difference is regarded as an abnormal value and deleted, and the average monitored current value of each monitored current value after the abnormal value is removed is calculated.
In an optional implementation manner, when removing the abnormal value in the monitored current value, a difference between each current value in the monitored current values and a mean value of all the monitored current values may be calculated, and when the difference is greater than a preset difference threshold, the monitored current value corresponding to the difference is taken as the abnormal value and deleted.
And S350, taking the average monitoring current value as a test target current value corresponding to the test duty ratio.
The method comprises the steps of removing an abnormal constant in a monitoring current value of a retarder corresponding to each test duty ratio within a preset test duration according to the monitoring current value corresponding to each test duty ratio, calculating an average monitoring current value of each monitoring current value after removing an abnormal value, and taking the average monitoring current value as a test target current value corresponding to the test duty ratio.
And S360, updating the duty ratio configuration table of the control signal of the feedforward electromagnetic valve based on the mapping relation between the test target current value and the corresponding test duty ratio.
And the mapping relation between the test target current value and the corresponding test duty ratio, namely the mapping relation between the target current value and the feedforward control duty ratio. Updating a duty ratio configuration table of a control signal of the feedforward electromagnetic valve, transposing the relation between the test duty ratio and the corresponding test target current value to obtain the mapping relation between the target current value and the feedforward control duty ratio, recording the mapping relation between the target current value and the feedforward control duty ratio in a table form, and taking the table as the updated duty ratio configuration table of the control signal of the feedforward electromagnetic valve.
In an optional implementation manner, interpolation calculation may be performed according to a mapping relationship between the test target current value and the corresponding test duty ratio, so as to obtain an interpolation target current value corresponding to the non-test duty ratio.
And updating a duty ratio configuration table of the control signal of the feedforward electromagnetic valve based on each test duty ratio and each non-test duty ratio and the corresponding test target current value and interpolation target current value.
The non-test duty cycle represents a duty cycle without specific test, interpolation estimation can be carried out according to a mapping relation between a test target current value and a corresponding test duty cycle to obtain an interpolation target current value corresponding to the non-test duty cycle, the relation between each test duty cycle and the non-test duty cycle and the corresponding test target current value and the corresponding interpolation target current value is transposed to obtain a mapping relation between a target current value and a feedforward control duty cycle, the mapping relation between the target current value and the feedforward control duty cycle is recorded in a form of a table, and the table is used as an updated feedforward electromagnetic valve control signal duty cycle configuration table.
Specifically, fig. 5 is a flowchart for dynamically updating a duty ratio configuration table of a control signal of a feedforward solenoid valve according to a third embodiment of the present invention. The 'feedforward chart' represents the feedforward electromagnetic valve control signal duty ratio configuration table and the 'self-learning' means the feedforward electromagnetic valve control signal duty ratio self-learning.
As shown in fig. 5, the dynamic update process of the duty ratio configuration table of the feedforward electromagnetic valve control signal is as follows: firstly, judging whether the vehicle is stationary, the air pressure of the air storage cylinder is enough, and the condition that the level voltage is enough is met, if so, starting self-learning. Then, the Test duty Test is set to 5% remotely, and further, the current value data within 5s is stored, data processing is performed, that is, an average value of the current value data is calculated, and then the Test duty is increased by 5%. And then repeating the self-learning process until the Test duty ratio Test is more than 100%, then performing data interpolation and transposition processing to obtain the mapping relation between the target current value and the feedforward control duty ratio, and updating the feedforward chart according to the mapping relation between the target current value and the feedforward control duty ratio.
According to the technical scheme provided by the embodiment of the invention, whether the air pressure of an air storage cylinder of the retarder is greater than a preset air pressure threshold value or not is judged by judging whether a target vehicle corresponding to the retarder is in a static state or not, and whether the voltage of a storage battery of the target vehicle is greater than a preset voltage threshold value or not is judged; when a target vehicle corresponding to the retarder is in a static state, the air pressure of an air storage cylinder of the retarder is greater than a preset air pressure threshold value, and the voltage of a storage battery of the target vehicle is greater than a preset voltage threshold value, starting a self-learning process of an electromagnetic valve control signal of the retarder; setting the range of the test duty ratio to be 0-100%, taking 5% as a preset step length, sequentially taking values to determine a test value of the test duty ratio, and respectively collecting the monitoring current values of the retarders corresponding to the test duty ratios within a preset test duration; removing an abnormal constant in the monitoring current value aiming at the monitoring current value corresponding to each test duty ratio, and calculating the average monitoring current value of each monitoring current value after removing the abnormal value; taking the average monitoring current value as a test target current value corresponding to the test duty ratio; and updating a duty ratio configuration table of the control signal of the feedforward electromagnetic valve based on the mapping relation between the test target current value and the corresponding test duty ratio. The technical scheme of the embodiment of the invention solves the problem of slow control speed of the electromagnetic valve in the prior art, can dynamically learn the control characteristic of the electromagnetic valve, update the duty ratio configuration table of the control signal of the feedforward electromagnetic valve and improve the control speed of the electromagnetic valve.
Example four
Fig. 6 is a schematic structural diagram of a retarder solenoid valve control device according to a second embodiment of the present invention, where the second embodiment of the present invention is applicable to a vehicle control scenario, and the device may be implemented by software and/or hardware and integrated in a computer device with an application development function.
As shown in fig. 6, the retarder solenoid valve control device includes: a current value acquisition module 410, a control signal acquisition module 420, and a target control signal determination module 430.
The current value obtaining module 410 is configured to obtain a target current value and an actual current value of the operation of the retarder in the braking process of the target vehicle; the control signal acquisition module 420 is configured to query a dynamically updated duty ratio configuration table of the feedforward electromagnetic valve control signal, which is matched with the retarder, based on a target current value, determine a feedforward control duty ratio, and determine a closed-loop control duty ratio based on an actual current value; and the target control signal determining module 430 is configured to determine a target solenoid valve control signal duty ratio according to the feedforward control duty ratio and the closed-loop control duty ratio, and implement solenoid valve control of the retarder according to the target solenoid valve control signal duty ratio.
According to the technical scheme provided by the embodiment of the invention, the target current value and the actual current value of the retarder in the braking process of the target vehicle are obtained; inquiring a dynamically updated duty ratio configuration table of a feedforward electromagnetic valve control signal matched with the retarder based on the target current value, determining a feedforward control duty ratio, and determining a closed-loop control duty ratio based on the actual current value; and determining the duty ratio of a target electromagnetic valve control signal according to the feedforward control duty ratio and the closed-loop control duty ratio, and realizing the electromagnetic valve control of the retarder according to the duty ratio of the target electromagnetic valve control signal. The technical scheme of the embodiment of the invention solves the problem of slow control speed of the electromagnetic valve in the prior art, and can quickly inquire out the feedforward control duty ratio matched with the current state of the retarder and required for realizing the target current value based on the dynamically updated feedforward electromagnetic valve control signal duty ratio configuration table, thereby improving the control speed of the electromagnetic valve.
In an optional implementation manner, the retarder electromagnetic valve control device further includes a dynamic update module of a duty ratio configuration table of the feedforward electromagnetic valve control signal, and the dynamic update module is used for starting a self-learning process of the electromagnetic valve control signal of the retarder according to a preset update time period; sequentially setting the test duty ratios of the electromagnetic valve control signals based on the preset step length, and respectively collecting the monitoring current values of the retarders corresponding to the test duty ratios in the preset test duration; and carrying out data processing on the monitoring current value, and updating a duty ratio configuration table of a control signal of the feedforward electromagnetic valve according to a processing result.
In an optional implementation manner, the dynamic update module of the duty ratio configuration table of the control signal of the feedforward electromagnetic valve is further configured to perform data processing on the monitored current value, and update the duty ratio configuration table of the control signal of the feedforward electromagnetic valve according to a processing result, including: removing abnormal values in the monitoring current values aiming at the monitoring current values corresponding to each testing duty ratio, and calculating the average monitoring current value of each monitoring current value after the abnormal values are removed; taking the average monitoring current value as a test target current value corresponding to the test duty ratio; and updating a duty ratio configuration table of the control signal of the feedforward electromagnetic valve based on the mapping relation between the test target current value and the corresponding test duty ratio.
In an optional implementation manner, the dynamic update module of the duty ratio configuration table of the control signal of the feedforward electromagnetic valve is further configured to update the duty ratio configuration table of the control signal of the feedforward electromagnetic valve based on a mapping relationship between a test target current value and a corresponding test duty ratio, and includes: performing interpolation calculation according to the mapping relation between the test target current value and the corresponding test duty ratio to obtain an interpolation target current value corresponding to the non-test duty ratio; and updating a duty ratio configuration table of the control signal of the feedforward electromagnetic valve based on each test duty ratio and each non-test duty ratio and the corresponding test target current value and interpolation target current value.
In an optional implementation manner, the dynamic update module of the duty ratio configuration table of the feedforward solenoid valve control signal further includes, before starting the self-learning process of the solenoid valve control signal of the retarder: judging whether a target vehicle corresponding to the retarder is in a static state, judging whether the air pressure of an air reservoir of the retarder is greater than a preset air pressure threshold value, and judging whether the voltage of a storage battery of the target vehicle is greater than a preset voltage threshold value; when a target vehicle corresponding to the retarder is in a static state, the air pressure of an air storage cylinder of the retarder is larger than a preset air pressure threshold value, and the voltage of a storage battery of the target vehicle is larger than a preset voltage threshold value, starting a self-learning process of an electromagnetic valve control signal of the retarder.
In an optional implementation manner, the dynamic update module of the duty ratio configuration table of the feedforward electromagnetic valve control signal is further configured to sequentially set the test duty ratios of the electromagnetic valve control signals based on the preset step length, and includes: setting the range of the test duty ratio to be 0-100%; and taking 5% as a preset step length, and sequentially taking values to determine a test value of the test duty ratio.
In an optional implementation, the dynamic update module of the duty ratio configuration table of the control signal of the feedforward electromagnetic valve is further configured to remove an abnormal value in the monitored current value, and includes: and calculating the difference value between each current value in the monitoring current values and the average value of all the monitoring current values, and when the difference value is greater than a preset difference value threshold value, taking the monitoring current value corresponding to the difference value as an abnormal value and deleting the abnormal value.
The retarder electromagnetic valve control device provided by the embodiment of the invention can execute the retarder electromagnetic valve control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
Fig. 7 is a schematic structural diagram of a computer device according to a third embodiment of the present invention. FIG. 7 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in fig. 7 is only an example and should not bring any limitations to the functionality or scope of use of the embodiments of the present invention.
As shown in FIG. 7, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, and commonly referred to as a "hard drive"). Although not shown in FIG. 7, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by running a program stored in the system memory 28, for example, to implement the method for controlling the retarder solenoid valve provided in the embodiment of the present invention, the method includes:
and acquiring a target current value and an actual current value of the running of the retarder in the braking process of the target vehicle.
And inquiring a dynamically updated duty ratio configuration table of the feedforward electromagnetic valve control signal matched with the retarder based on the target current value, determining a feedforward control duty ratio, and determining a closed-loop control duty ratio based on the actual current value.
And determining the duty ratio of a target electromagnetic valve control signal according to the feedforward control duty ratio and the closed-loop control duty ratio, and realizing the electromagnetic valve control of the retarder according to the duty ratio of the target electromagnetic valve control signal.
EXAMPLE six
A sixth embodiment provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a method for controlling a retarder solenoid valve according to any embodiment of the present invention, where the method includes:
and acquiring a target current value and an actual current value of the running of the retarder in the braking process of the target vehicle.
And inquiring a dynamically updated duty ratio configuration table of the feedforward electromagnetic valve control signal matched with the retarder based on the target current value, determining a feedforward control duty ratio, and determining a closed-loop control duty ratio based on the actual current value.
And determining the duty ratio of a target electromagnetic valve control signal according to the feedforward control duty ratio and the closed-loop control duty ratio, and realizing the electromagnetic valve control of the retarder according to the duty ratio of the target electromagnetic valve control signal.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It will be understood by those skilled in the art that the modules or steps of the invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and optionally they may be implemented by program code executable by a computing device, such that it may be stored in a memory device and executed by a computing device, or it may be separately fabricated into various integrated circuit modules, or it may be fabricated by fabricating a plurality of modules or steps thereof into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A retarder solenoid valve control method is characterized by comprising the following steps:
acquiring a target current value and an actual current value of the running retarder in the braking process of a target vehicle;
inquiring a dynamically updated duty ratio configuration table of a feedforward electromagnetic valve control signal matched with the retarder based on the target current value, determining a feedforward control duty ratio, and determining a closed-loop control duty ratio based on the actual current value;
and determining the duty ratio of a target electromagnetic valve control signal according to the feedforward control duty ratio and the closed-loop control duty ratio, and realizing the electromagnetic valve control of the retarder according to the duty ratio of the target electromagnetic valve control signal.
2. The method of claim 1, wherein the dynamically updating of the feedforward solenoid valve control signal duty cycle profile comprises:
starting a self-learning process of an electromagnetic valve control signal of the retarder according to a preset updating time period;
sequentially setting the test duty ratios of the electromagnetic valve control signals based on the preset step length, and respectively collecting the monitoring current values of the retarder corresponding to the test duty ratios within the preset test duration;
and carrying out data processing on the monitoring current value, and updating the duty ratio configuration table of the control signal of the feedforward electromagnetic valve according to the processing result.
3. The method of claim 2, wherein the data processing the monitored current value and updating the duty cycle configuration table of the feedforward solenoid valve control signal according to the processing result comprises:
removing abnormal values in the monitoring current values aiming at the monitoring current values corresponding to each test duty ratio, and calculating the average monitoring current value of each monitoring current value after the abnormal values are removed;
taking the average monitoring current value as a test target current value corresponding to the test duty ratio;
and updating the duty ratio configuration table of the control signal of the feedforward electromagnetic valve based on the mapping relation between the test target current value and the corresponding test duty ratio.
4. The method of claim 3, wherein updating the feedforward solenoid control signal duty cycle configuration table based on the mapping between the test target current value and the corresponding test duty cycle comprises:
performing interpolation calculation according to the mapping relation between the test target current value and the corresponding test duty ratio to obtain an interpolation target current value which is not corresponding to the test duty ratio;
and updating the duty ratio configuration table of the feedforward electromagnetic valve control signal based on each test duty ratio and the non-test duty ratio, and the corresponding test target current value and the interpolation target current value.
5. The method of claim 2, wherein prior to initiating a solenoid control signal self-learning process of the retarder, the method further comprises:
judging whether a target vehicle corresponding to the retarder is in a static state, judging whether the air pressure of an air reservoir of the retarder is greater than a preset air pressure threshold value, and judging whether the voltage of a storage battery of the target vehicle is greater than a preset voltage threshold value;
when the target vehicle corresponding to the retarder is in a static state, the air pressure of the air storage cylinder of the retarder is larger than a preset air pressure threshold value, and the voltage of the storage battery of the target vehicle is larger than a preset voltage threshold value, the electromagnetic valve control signal self-learning process of the retarder is started.
6. The method of claim 2, wherein sequentially setting the test duty cycles of the solenoid valve control signals based on the preset step size comprises:
setting the range of the test duty cycle to 0-100%;
and taking 5% as the preset step length, and sequentially taking values to determine the test value of the test duty ratio.
7. The method of claim 3, wherein said removing abnormal values from said monitored current values comprises:
and calculating the difference value between each current value in the monitoring current values and the average value of all the monitoring current values, and when the difference value is greater than a preset difference value threshold value, taking the monitoring current value corresponding to the difference value as an abnormal value and deleting the abnormal value.
8. A retarder solenoid valve control arrangement, characterized in that the arrangement comprises:
the current value acquisition module is used for acquiring a target current value and an actual current value of the running retarder in the braking process of the target vehicle;
the control signal acquisition module is used for inquiring a dynamically updated feedforward electromagnetic valve control signal duty ratio configuration table matched with the retarder based on the target current value, determining a feedforward control duty ratio and determining a closed-loop control duty ratio based on the actual current value;
and the target control signal determining module is used for determining the duty ratio of a target electromagnetic valve control signal according to the feedforward control duty ratio and the closed-loop control duty ratio and realizing the electromagnetic valve control of the retarder according to the duty ratio of the target electromagnetic valve control signal.
9. A computer device, characterized in that the computer device comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the retarder solenoid valve control method according to any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the retarder solenoid valve control method according to any of the claims 1-7.
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